Masakatsu Kourogi Nobuchika Sakata Takashi Okuma Takeshi Kurata Indoor/Outdoor Pedestrian Navigation with an Embedded GPS/RFID/Self-contained Sensor System. 1310-1321 2006 conf/icat/2006 ICAT http://dx.doi.org/10.1007/11941354_136 db/conf/icat/icat2006.html#KourogiSOK06